ES2166735B1 - Actuador para las piernas de un robot caminante. - Google Patents

Actuador para las piernas de un robot caminante.

Info

Publication number
ES2166735B1
ES2166735B1 ES200002423A ES200002423A ES2166735B1 ES 2166735 B1 ES2166735 B1 ES 2166735B1 ES 200002423 A ES200002423 A ES 200002423A ES 200002423 A ES200002423 A ES 200002423A ES 2166735 B1 ES2166735 B1 ES 2166735B1
Authority
ES
Spain
Prior art keywords
legs
actuator
leg
walking robot
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
ES200002423A
Other languages
English (en)
Other versions
ES2166735A1 (es
Inventor
Teodor Akinfiev
Rodriguez Manuel Armada
Rony Javier Caballero
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Consejo Superior de Investigaciones Cientificas CSIC
Original Assignee
Consejo Superior de Investigaciones Cientificas CSIC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Consejo Superior de Investigaciones Cientificas CSIC filed Critical Consejo Superior de Investigaciones Cientificas CSIC
Priority to ES200002423A priority Critical patent/ES2166735B1/es
Priority to AU2002212363A priority patent/AU2002212363A1/en
Priority to PCT/ES2001/000372 priority patent/WO2002028600A2/es
Publication of ES2166735A1 publication Critical patent/ES2166735A1/es
Application granted granted Critical
Publication of ES2166735B1 publication Critical patent/ES2166735B1/es
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

Actuador para las piernas de un robot caminante. El actuador para las piernas de un robot caminante, en su mayor parte robots bípedos, con un elemento móvil, con un motor localizado en el elemento móvil, con un elemento base de la pierna el cual es conectado con el elemento móvil por medio de una articulación de rotación conectada cinemáticamente con el motor, distinguido en que el circuito cinemático entre el motor y el elemento base de la pierna tiene un mecanismo de biela-manivela y la manivela esta conectada cinemáticamente con el motor y la biela esta conectada con el elemento base de la pierna por medio una articulación de rotación, la longitud de la manivela es menor que la distancia entre las dos articulaciones de rotación en el elemento base de la pierna.
ES200002423A 2000-10-06 2000-10-06 Actuador para las piernas de un robot caminante. Expired - Fee Related ES2166735B1 (es)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES200002423A ES2166735B1 (es) 2000-10-06 2000-10-06 Actuador para las piernas de un robot caminante.
AU2002212363A AU2002212363A1 (en) 2000-10-06 2001-10-05 Actuator for the legs of a walking robot
PCT/ES2001/000372 WO2002028600A2 (es) 2000-10-06 2001-10-05 Actuador para las piernas de un robot caminante

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES200002423A ES2166735B1 (es) 2000-10-06 2000-10-06 Actuador para las piernas de un robot caminante.

Publications (2)

Publication Number Publication Date
ES2166735A1 ES2166735A1 (es) 2002-04-16
ES2166735B1 true ES2166735B1 (es) 2003-10-16

Family

ID=8495192

Family Applications (1)

Application Number Title Priority Date Filing Date
ES200002423A Expired - Fee Related ES2166735B1 (es) 2000-10-06 2000-10-06 Actuador para las piernas de un robot caminante.

Country Status (3)

Country Link
AU (1) AU2002212363A1 (es)
ES (1) ES2166735B1 (es)
WO (1) WO2002028600A2 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644642A (zh) * 2016-02-16 2016-06-08 秦广泉 一种推动装置

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4255663B2 (ja) 2002-08-28 2009-04-15 本田技研工業株式会社 脚式移動ロボット
KR100541433B1 (ko) 2002-12-23 2006-01-11 삼성전자주식회사 ２족보행로봇
JP4299567B2 (ja) * 2003-03-31 2009-07-22 本田技研工業株式会社 脚式移動ロボット
EP1726412A1 (en) 2005-05-23 2006-11-29 Vrije Universiteit Brussel Articulated joint with adjustable stiffness
CN108082326A (zh) * 2017-12-27 2018-05-29 高飞 一种机械仿生行走机构
CN215322946U (zh) * 2021-01-15 2021-12-28 北京小米移动软件有限公司 足式机器人及其腿组件

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4177602A (en) * 1978-07-26 1979-12-11 Choi Eun S Automated mechanism for imparting movement to limbs of a mechanical toy
US4474176A (en) * 1982-07-20 1984-10-02 Joint Mobilizer Systems Corporation Foot articulator
JPS60116388A (ja) * 1983-11-29 1985-06-22 株式会社サンライズ ロボツト玩具の歩行脚
FR2653516B1 (fr) * 1989-10-20 1994-12-23 Commissariat Energie Atomique Transmission deformable a barres articulees et vehicule equipe de telles transmissions.
JP2592340B2 (ja) * 1989-12-14 1997-03-19 本田技研工業株式会社 脚式歩行ロボットの関節構造
WO1992021416A1 (en) * 1991-05-31 1992-12-10 Mattel, Inc. Skating doll having linear wheeled skates
US5224896A (en) * 1992-01-24 1993-07-06 Breslow, Morrison, Terzian & Associates, Inc. Ambulatory doll
JP2968420B2 (ja) * 1993-07-20 1999-10-25 株式会社タカラ ２足歩行ロボット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644642A (zh) * 2016-02-16 2016-06-08 秦广泉 一种推动装置

Also Published As

Publication number Publication date
WO2002028600A3 (es) 2002-07-18
WO2002028600A2 (es) 2002-04-11
AU2002212363A1 (en) 2002-04-15
ES2166735A1 (es) 2002-04-16

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